Apparatus for human gait manipulation

ABSTRACT

A treadmill may be configured for gait training and/or therapy with attachable/detachable barriers affixable to a belt and/or with a vertical obstacle module and/or with sensor systems, but without requiring hoists, harnesses, attachments to the treadmill or base, or frame, and/or excessively high treadmill frames, such as those that exceed the height of the person on the treadmill. The barriers on the belt are configured to modify movement of only one foot of a person on the treadmill. The treadmill may use a single, integral belt. Methods of gait training and/or therapy may involve such treadmills without excessive expense and without excessive modification of standard treadmill equipment.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is a Continuation of U.S. application Ser. No.16/822,335, pending, having a filing date of Mar. 18, 2020.

BACKGROUND OF THE INVENTION Field of the Invention

The present disclosure relates to therapeutic and/or training equipment,particularly moving bands, such as treadmills, which may have barriersand/or obstacles arranged on, upon, around, and/or above the belt so asto modify the gait, including aspects such as foot orientation, pace,rhythm, and/or coordination, as well as to methods of gait therapyand/or training or methods of making devices for such therapy and/ortraining.

Description of the Related Art

Many living beings and human health care patients, suffer from mobilitylimitations, including asymmetry in walking patterns due to neuro-motorand/or musculoskeletal impairments. Such impairments may reduce theability to walk and may even cause skeletal deformities. Consequently,such mobility impairments can affect the performance of daily livingactivities, increase the risk of fall, and negatively impact quality oflife.

There are different medical conditions that can result in asymmetricgait patterns and motor impairment in humans, such as stroke in adultsand cerebral palsy in children and adults. Stroke is the leading causeof disability and the fifth cause of death in the US. Affectedindividuals can suffer from severe neuro-motor impairments that affectnormal walking and increase dependence on the unaffected side for dailyliving activities. Specifically, walking velocity, cadence, and/or steplength, i.e., gait cycle parameters, can be considerably altered afterstrokes. These altered gait cycle parameters are associated with higherrisk of falls and more dependent lifestyles.

There are a number of different approaches to correcting and/or reducingwalking asymmetry and improving rhythm in affected individuals. Onecorrective approach is the traditional rehabilitation approach, i.e.,task-oriented training, which instructs the patient verbally to adjustthe walking pattern and/or rhythm based on gait parameters, whileperforming a repeated functional tasked exercise. A second correctiveapproach involves using an auditory feedback system, such as theMETRONOM system, wherein the patient tries to walk several steps whilefollowing a predefined tone or sound. A third approach involves using asplit treadmill that has a separate engine for each belt, which allowsfor altering gait parameters for both limbs simultaneously, therebyimproving gait pattern and asymmetry.

Most of the current therapeutic approaches to improve walking asymmetrymainly target an affected limb. Selected approaches in the art, such asthose in US 2017/0027803 A1, WO2013054257A1, and US20060247104A1, aim toremedy walking asymmetry using a treadmill using an exoskeleton, cableattachments, and/or virtual reality applications to improve walking,which adds extra weight to the affected limb and complexity.

US 2017/0027803 A1 by Agrawal et al. (Agrawal) discloses systems formachine-based rehabilitation of movement disorders including gaittherapy applications that can apply controlled forces to the pelvisand/or other body parts including knee and ankle joints. Agrawaldescribes cable-driven systems for gait therapy applications applyingcontrolled forces to the pelvis and the pelvis, knee, and ankle joints,which can be treadmill or walker-based. Agrawal applies a controlleddownforce to the hip with augmentation including supportive forces.Agrawal's technology may be activated through cables providing supportand limb-flexing moments with low inertia and friction resistance,optionally by facilitating a patient's ability to coordinate movement,control balance, achieve strength, and other beneficial outcomes.Agrawal uses winches, systems of cables and leg attachments, load cellsattached to the treadmill, and/or an exoskeleton.

WO 2013/054257 A1 by Mirelman et al. (Mirelman) discloses methods and/orsystems for diagnosing, monitoring, and/or treating persons at risk forfalling and/or other pathological conditions. Mirelman's systemdiagnoses people before they actually start falling, optionallyincluding trying out and identifying one or more fall triggers usingvirtual reality tools. Mirelman's treatment may include training thepersons using situations and/or triggers which are determined to berelevant for that person. Mirelman uses virtual reality simulation aswell as body attachments.

US 2006/0247104 A1 by Grabiner et al. (Grabiner) discloses an apparatus,system, and method for fall prevention training that delivers, studies,and analyzes the biomechanics of a disturbance event, such as a slip ortrip incident, so that an appropriate response can be executed by theperson to reduce or eliminate the number of falls experienced.Grabiner's apparatus includes a platform that delivers a disturbanceevent in less than about 500 ms, preferably 100 to 200 ms. Grabiner alsouses a harness system on at least the torso of the patient, tethers andforce transducers, though Grabiner may use a physical obstacle on itstreadmill. Grabiner requires a pair of belts, i.e., left and rightbelts, and describes only physical barriers which span the width of bothof Grabiner's belts. Grabiner's barriers are not affixed to either belt.

GB 2 291 361 A by Omoyiola (Omoyiola) discloses an exercise treadmillwith supporting surfaces made from a plurality of stretchable belts soarranged that a person using the treadmill may accelerate/deceleratesmoothly to/from full speed because each succeeding sector of the beltsurface is moving at a faster/slower rate. Omoyiola's treadmill may havefixed hurdles or hurdles that are synchronized with the belt movement.Omoyiola describes a number of mobile and/or immobile hurdles for atraditional treadmill, which hurdles may be the same as used byathletes. Omoyiola's hurdles may be powered by the same mechanism as thetreadmill or a separate adjoining mechanism. Omoyiola's hurdle may havereducible heights and the movable hurdles are connected by a chain link(on rollers) on one or both sides of the treadmill, rather than thebelt.

JP 2019-071986 A by Kogu et al. (Kogu) discloses a walking/gait trainingapparatus that has a physical obstacle and trains for fall preventionand improves cognitive function. Kogu's walking training apparatusincludes a rotating body having a walking unit and a trip preventionunit that lifts the trainee before the trainee walking on the walkingunit falls. Kogu's belt can have convex-shaped obstacles on its surface,and the system has a fall prevention unit including a column member, abeam member, a grip portion, a wire, and a mounting portion, whichattach to the patient's waist. Kogu's obstacles may be various shapesand may be attachable and removable from holes in Kogu's belt.

CN 104545813 B by Ning et al. (Ning) discloses a traveling obstacleavoidance capacity testing device. Ning's device includes aphotoelectric virtual obstacle generation device on a pressure detectionstep pad. A pressure scanning matrix device in Ning's pressure detectionstep pad is connected with a control device through a signal acquisitiondevice. The photoelectric virtual obstacle generation device isconnected with the control device. A computer is connected with thecontrol device through a communication device. Ning's pressure detectionstep pad is formed by pressing and fixing a hard base pad, a pressurescanning matrix device, and a buffer soft pad. The photoelectric virtualobstacle generation device comprises LED light strips which areuniformly spaced from one another in parallel. Ning's device canestablish a state of normal walking, directly measure gait parameters,and avoid fall risk in tested persons. Ning's obstacles are light, i.e.,virtual obstacles.

Gait & Posture 2011, 34(3), 340-346 by Chandra et al. (Chandra)discloses an investigation of gaze-behavior in elderly, middle-aged, andyoung subjects walking on a treadmill repeatedly stepping overobstacles, which approached either on the right or left side. Anacoustic warning signal announced the obstacles in Chandra, after whichsubjects were free to look wherever they wanted. Gaze-movements weremeasured by video-oculography. Chandra reports that gaze-behavior ofelderly subjects indicate a greater dependency on visual inputs. Chandradoes not describe barriers attached to the belt, nor removable barriers.

In light of the above, a need remains for therapeutic and/or trainingdevices, including treadmills with simplified barrier systems,particularly for patients with impaired gaits and/or handicaps, such asstroke patients, and methods of making and using such devices.

SUMMARY OF THE INVENTION

Aspects of the invention provide treadmills configured for gaitmanipulation, such treadmills comprising: a treadmill belt configured totravel within a hollow treadmill frame upon rotating elements havingaxes perpendicular to a direction of the travel; a first barrier; and asecond barrier; wherein the first and second barriers are arranged onthe top surface of the treadmill belt between a first lengthwise edgeand a second lengthwise edge of the treadmill belt, wherein the firstand second barriers are reversibly fastened to the treadmill belt andare interchangeably positionable along the first lengthwise edge and thesecond lengthwise edge of the treadmill belt, wherein the barriersextend no more than 75% of a width between the first and secondlengthwise edge, wherein the barriers on the belt are configured tomodify movement of only one foot of a person on the treadmill, andwherein a distance between the first lengthwise edge and the secondlengthwise edge of the treadmill belt defines the width of the treadmillbelt. Such treadmills may be modified by any permutation of the featuresdescribed herein, particularly the following.

Inventive treadmills may further comprise three or more barriers,wherein each of the obstacles is equidistantly positioned along a lengthof the treadmill belt.

The hollow frame need not exceed a height of the person, or chest heightof the person, on the treadmill. The treadmills may be configured tohave no physical connection between the person on the treadmill and thehollow frame and/or no physical connection between the person on thetreadmill and the treadmill.

Inventive treadmills may further comprise an external mechanicalobstacle module comprising an extendable/retractable rod-shapedobstacle, wherein the obstacle is configured to extend across at least aportion of the belt of the treadmill from the external mechanicalobstacle module. The external mechanical obstacle module(s) may bepositioned adjacent the treadmill belt such that the obstacle isextendable vertically above the belt. The obstacle may be configured toextend perpendicular to the first and second lengthwise edge of thebelt. The obstacle may be configured to extend across no more than 60%of the width of the belt.

Inventive treadmills may further comprise: a set of frame magneticcoils, configured to create an electromagnetic field barrier generatedfrom the set of magnetic coils; and a wearable magnet magneticallycoupled with the set of frame magnetic coils, wherein the set ofmagnetic coils is integrated into a treadmill frame, wherein thewearable magnet is configured to be integrated into a shoe worn by theperson on the treadmill, and wherein the set of frame magnetic coils andthe at least one wearable magnet are operatively coupled with amicroprocessor.

Inventive treadmills may further comprise: a foot sensor; a front stridesensor; and a rear stride sensor, wherein the foot sensor is configuredto be integrated into a shoe worn by the person on the treadmill,wherein the front stride sensor and the rear stride sensor arepositioned under the treadmill belt adjacent a bottom surface of thetreadmill belt, wherein the foot sensor is communicably coupled with thefront stride sensor and the rear stride sensor, wherein the foot sensor,the front stride sensor, and the rear stride sensor are operativelycoupled with a microprocessor, a set of strike related information beingtransferred to the microprocessor from the sensors, and wherein theelectromagnetic field is managed by the microprocessor according to theset of strike related information.

The first and second barrier may include a first belt side attachmentand a second belt side attachment, and the treadmill may furthercomprise: a lengthwise treadmill wall positioned along the firstlengthwise edge; and a center treadmill wall positioned parallel to thelengthwise treadmill wall and along a center of the treadmill belt,wherein the first belt side attachment is laterally connected to a shoeworn by the person on the treadmill, wherein the second belt sideattachment is laterally connected to the shoe opposite the first lateralattachment, wherein the first belt side attachment is slidablypositioned along the lengthwise treadmill wall using a first rotatableball mount, and wherein the second belt side attachment is slidablypositioned along the center treadmill wall using a second rotatable ballmount.

The first and second barrier may be in the form of triangular and/orrectangular prisms. The belt may comprise the barriers on only one halfof the width of the belt from a center of the belt. The barriers may bedriven only by the belt in operation. Each of the barriers may bemirror-symmetric in at least two planes bisecting the barrier. Thebarriers may be made of a material comprising a polyurethane foam.

Aspects of the invention provide methods of correcting a gait of aperson, and such methods may comprise: conducting a physical therapyregime on ambulatory motion of the person using any permutation of theinventive treadmill described herein.

Aspects of the invention provide methods of conducting physical therapyon the gait of a person, and such methods may comprise: aligning thebarriers of any permutation of the inventive treadmill described hereinon only one lengthwise half of the belt in the direction of movement ofthe belt; and allowing the person to walk and/or run on the treadmill.

BRIEF DESCRIPTION OF THE DRAWINGS

A more complete appreciation of the invention and many of the attendantadvantages thereof will be readily obtained as the same becomes betterunderstood by reference to the following detailed description whenconsidered in connection with the accompanying drawings, wherein:

FIG. 1 shows a sketch of a treadmill equipped with a specialized beltwithin the scope of the invention;

FIG. 2A shows a top plan view of an exemplary treadmill arrangementwithin the scope of the invention;

FIG. 2B shows a rear view of an exemplary treadmill arrangement withinthe scope of the invention;

FIG. 2C shows a right side view of an exemplary treadmill arrangementwithin the scope of the invention;

FIG. 2D shows a front view of an exemplary treadmill arrangement withinthe scope of the invention;

FIG. 3 shows an exemplary treadmill belt useful within the scope of theinvention;

FIG. 4 shows an exemplary purposefully-made obstacle useful within thescope of the invention;

FIG. 5 shows an exemplary specialized belt equipped with walkingobstacles useful within the scope of the invention;

FIG. 6 shows an exemplary treadmill with an exemplary mechanicalobstacle module which may be programmed to trigger with healthy legmotion;

FIG. 7 shows the exemplary mechanical obstacle module from FIG. 6;

FIG. 8A shows a top plan view of components of the exemplary mechanicalobstacle module from FIG. 6;

FIG. 8B shows a (right) side view of components of the exemplarymechanical obstacle module from FIG. 6;

FIG. 8C shows a rear view of components of the exemplary mechanicalobstacle module from FIG. 6;

FIG. 8D shows a (left) side view of components of the exemplarymechanical obstacle module from FIG. 6;

FIG. 9 shows exemplary electromagnetic shoes, sensors, coil zones, and acorresponding treadmill track; and

FIG. 10 shows a top plan view of an illustration of a method of functionof a heal-toe barrier/sensor arrangement as disclosed in FIG. 9.

DETAILED DESCRIPTION OF THE INVENTION

Aspects of the invention provide treadmills configured for gaitmanipulation (modification, improvement, therapy, or the like), suchtreadmills comprising: a treadmill belt (e.g., comprising rubber such aspolybutadiene, olefin rubber, SBR, nitrile rubber, or the like,composite, and/or fibers) configured to travel spatially within a hollowtreadmill frame (typically including an arm support on each side and ascreen support in the front, these are optional features beyond thebased/floor elements supporting the belt and rotating elements), uponrotating elements having axes perpendicular to a direction of thetravel; a first barrier; and a second barrier. The first and second (andany further) barriers may be the same or different, in (repeat) patternsof shape, such as A-A-B-B-A-A, A-B-A . . . , A-B-C . . . , A-A-B-B-C-C .. . , etc., or the like. The first and second barriers may be arrangedon, i.e., placed in contact with, attached to, or otherwise connectedto, the top surface of the treadmill belt between a first lengthwiseedge and a second lengthwise edge of the treadmill belt. The first andsecond barriers may be reversibly fastened, affixed, connected,attached, etc., to the treadmill belt and are interchangeablypositionable along the first lengthwise (in direction of rotation of thebelt) edge and the second lengthwise edge of the treadmill belt. Thebarriers may extend no more than 75, 67, 60, 50, 47.5, 45, 42.5, 40,37.5, 35, or 33% (and at least 10, 15, 20, 25, 27.5, 30, 32.5, 35, or40%) of the width between the first and second lengthwise edge, and/orthe width of the belt. The distance between the first lengthwise edgeand the second lengthwise edge of the treadmill belt defines the widthof the treadmill belt. The barriers on the belt may be configured tomodify movement of only one foot of a person on the treadmill, such thatonly one half of the belt contains such barriers.

Inventive treadmills may further comprise three (4, 5, 6, 7, 8, 9, 10, .. . ) or more barriers or may contain, e.g., no more than 1, 2, 3, 4, or5 barriers/obstacles, and/or each of the barriers/obstacles isequidistantly positioned along a length of the treadmill belt. It is notnecessary, and may even be desirable, however, that thebarriers/obstacles are not equidistantly distributed, or are otherwiseirregularly arranged.

The hollow frame need not and preferably may not exceed a height (e.g.,top of the head) of the person, and/or breast, chest (rib cage),stomach, or waste height of the person on the treadmill. The treadmillsmay be configured to have no (though, in some circumstances, only one,two, or three) physical connections, such as cables, wires, harnesses,attachments, etc., between the person on the treadmill and the hollowframe and/or no such physical connection (in some circumstances, onlyone, two, or three) between the person on the treadmill and thetreadmill (or any associated component in the room/space of thetreadmill, particularly associated with the gait training).

Inventive treadmills may further comprise an external mechanicalobstacle module comprising an extendable/retractable rod-shaped(cylindrical) obstacle or triangular, square, rectangular, or hexagonalprismatic obstacle, or 2, 3, 4, 5, or more such obstacles. Suchobstacle(s) may be configured to extend across at least a portion of thetreadmill belt, typically at least 10, 15, 20, 25, 30, 35, or 40% of thewidth and/or up to 75, 70, 65, 60, 55, 50, 45 or 40% of the width of thebelt, from the external mechanical obstacle module. The externalmechanical obstacle module(s) may be positioned adjacent the treadmillbelt such that the obstacle is extendable vertically above the belt,e.g., at least 1, 2, 2.5, 5, 7.5, 10, 12.5, 15, 20, 25, or 30 cm and/orup to 100, 75, 60, 50, 40, 35, 30, 25, or 20 cm. The orientation of theobstacle(s) may be parallel planar to the plane of the belt, or skewed,and/or the orientation of the obstacle may be perpendicular to thedirection of the rotation/movement of the belt, or angled, e.g., atleast 3, 6, 9, 12, 15, 18, 21, 24, or 30° and/or up to 60, 57, 54, 51,48, 45, 42, 39, 36, 33, or 30°. The obstacle may be configured to extendperpendicular to the first and second lengthwise edge of the belt. Theobstacle may be configured to extend across no more than 60, 57.5, 55,52.5, 50, 47.5, 45, 42.5, 40, 37.5, or 36.7% of the width of the belt,typically from one side of the belt, i.e., generally not simply a middlebelt portion.

The external mechanical obstacle module (at least the housing) may beintegral with the hollow frame. The external mechanical obstacle modulemay be configurable with electronic instructions to extend and retractthe rod according to an exercise regimen, whereby such instructions maybe transmitted internally in the external mechanical obstacle modulefrom an electronic device on the external mechanical obstacle module, orvia an external handheld, laptop, or desktop device (optionallywirelessly), or wirelessly via a central service. For example, theobstacle(s) on the external mechanical obstacle module may be programmedto extend and retract at certain intervals, e.g., at least 1 time per60, 50, 45, 40, 35, 30, 25, 20, 15, 10, 5, 4, 3, 2, or 1 second and/orup to 1 time per 10, 9, 8, 7, 6, 5, 4.5, 4, 3.5, 3, 2.5, 2, 1.5, 1,0.75, 0.5, 0.25 seconds. The direction of motion of the obstacle mayalso be programmed in a variety of ways, including to sway in a hingedmanner (e.g., in a range of any combination of ±45, 42, 39, 36, 33, 30,27, 24, 21, 18, 15, 12, 9, 6, 5, 4, 3, 2, 1° from perpendicular to thedirection of movement of the belt), translating back and forth in thehorizontal plane (e.g., in a range of any combination of ±100, 90, 80,75, 70, 65, 60, 55, 50, 45, 40, 35, 30, 25, 20, 15, 10, or 5 cm),translating up and down in the vertical plane (e.g., in a range of anycombination of ±100, 90, 80, 75, 70, 65, 60, 55, 50, 45, 40, 35, 30, 25,20, 15, 10, or 5 cm), translating in a diagonal between the vertical andhorizontal planes (e.g., in a range of any combination of ±45, 42, 39,36, 33, 30, 27, 24, 21, 18, 15, 12, 9, 6, 5, 4, 3, 2, 1° off of thevertical and/or horizontal plane), and/or in a circular, ovular, FIG.-8,and/or sinusoidal manner (viewed from FIG. 8B, i.e., making such shapesin the vertical plane). Based on attachments on the obstacle(s), theshape of the obstacle(s), or mechanical motion of the externalmechanical obstacle module, such shapes may also be made in thehorizontal plane and/or any diagonal to the horizontal plane.

The exercise (regime) may be any known in the art and/or recommended bya qualified orthopedist, doctor (doctor of medicine, osteopathy,podiatric medicine, etc.), nurse (physician assistant, clinical nursespecialist, or nurse practitioner), and/or physical therapist. Theexercise regime may be any type of gait training, for example, suitableto strengthen muscles, strengthen joints, improve balance, improveposture, build endurance, develop muscle memory, retrain legs forrepetitive motion, lower risk of falls, and/or increase mobility. Thetraining may be motivated by, e.g., one or more spinal cord injuries,broken legs/pelvis, joint injuries, joint replacements, lower limbamputations, strokes, neurological disorders, and/or muscular dystrophyor other musculoskeletal disorders.

Inventive treadmills may further comprise: a set of frame magneticcoils, e.g., 1, 2, 3, 4, 5, or more coils on the right, left, rear,front, bottom, and/or top side, configured to create an electromagneticfield barrier generated from the set of magnetic coils; and a wearablemagnet magnetically coupled with the set of frame magnetic coils. Suchmagnet may be incorporated into a shoe and/or on a clamp/shoejacket/saddle configured to attach onto customary non-therapeutic (ortherapeutic) shoes worn by the public. The set of magnetic coils may beintegrated into a treadmill frame, e.g., within 50, 47.5, 45, 42.5, 40,37.5, 35, 32.5, 30, 27.5, 25, 22.5, 20 cm (vertically) of the base orbelt. The wearable magnet may be configured to be integrated into oronto a shoe worn by the person on the treadmill, and the set of framemagnetic coils and the at least one wearable magnet may be operativelycoupled with a microprocessor, such that electromagnetic signals andimpulses may be sent from or received by the coils and/or the wearablemagnet.

Inventive treadmills may further comprise: a foot sensor; a front stridesensor; and/or a rear stride sensor, which may be independently in theform of single plate sensors or arrays of sensors. The foot sensor maybe configured to be integrated into a shoe or some form of attachmentfor the shoe worn by the person on the treadmill. The foot sensor may becommunicably coupled (e.g., electromagnetically, typically by wirelesssignal) with the front stride sensor and the rear stride sensor, thoughsystems may be used in which piezoelectric sensors require no footsensor. The foot sensor, the front stride sensor, and/or the rear stridesensor, typically each sensor independently, may be operatively coupledwith a microprocessor, a set of strike related information beingtransferred to the microprocessor from the sensors, and theelectromagnetic field is managed by the microprocessor according to theset of strike related information. This system can be coordinated and/orintegrated with the magnetic coils and/or wearable magnet, or may beindependently operated with an electronically responsive element on thefoot, ankle, calf, and/or knee. Such pulses may be implemented totorsionally rotate and/or linearly translate the foot, ankle, calf,and/or knee, e.g., to thereby correct, modify, improve, etc., ambulatorymotion.

The first and second barrier may include a first belt side attachmentand a second belt side attachment (or further attachments), which may beconnected in a bearing system to the belt, e.g., with a spherical,ovular, cylindrical, etc., barrier element to a front (e.g., toe and/orball of foot) and/or back (heel and/or back arch) of a person's foot orshoe. The treadmill may further comprise a lengthwise treadmill wallpositioned along the first lengthwise edge; and a center treadmill wallpositioned parallel to the lengthwise treadmill wall and along a centerof the treadmill belt. Such walls may be present without affecting theintegrity of the belt, e.g., in that the center wall hovers over asingle, integral belt. The first belt side attachment may be laterallyconnected to a shoe worn by the person on the treadmill, and the secondbelt side attachment may be laterally connected to the shoe opposite thefirst lateral attachment, e.g., based on a physical (cable) connectionor signal connection between the barrier element and the shoe from thecenter wall and side wall. The first belt side attachment may beslidably positioned along the lengthwise treadmill wall using a firstrotatable ball (or oval, cylinder, or other rotatable) mount. The secondbelt side attachment is slidably positioned along the center treadmillwall using a second rotatable ball mount (or oval, cylinder, or otherrotatable). The first and second rotatable ball mount may be identicalin shape, but may preferably be different, e.g., providing more or lesspressure to one end of the foot, based upon the needs and/or goals ofthe person on the treadmill.

The first and second barrier may be in the form of triangular and/orrectangular prisms (or other shape described below). The width of thebarrier may be, e.g., at least 15, 20, 25, 30, or 33% of the width ofthe belt and/or up to 50, 47.5, 45, 42.5, 40, 37.5, 35, 32.5, or 30% ofthe width of the belt, and/or the thickness (depth) of the barrier maybe, e.g., at least 2.5, 5, 7.5, or 10 cm and/or up to 25, 22.5, 20,17.5, 15, 12.5, 10, 7.5, or 5 cm. The belt may comprise the barriers ononly one half of the width of the belt from a center of the belt, i.e.,on the right or left side. The barriers may be driven only by the beltin operation, i.e., the only element of the treadmill causing thebarriers to move may be the belt itself and the static connection of thebarrier to the belt, rather than a further driving system to thebelt/rotating elements. Each of the barriers may be mirror-symmetric inat least two planes bisecting the barrier, such as a rectangular prism,isosceles triangular prism, trapezoidal prism, or the like. The barriersmay be made of a material comprising a polyurethane (PU) foam (incl.low-resilience PU, memory foam), or a similar polymer foam or rubber,e.g., olefinic (LDPE, PE, PP, expanded PP, etc.) foam,polyethylene-vinyl acetate (PEVA), nitrile rubber (NBR) foam,acrylonitrile (ACN)-butadiene copolymer foams, polychloroprene foam,polyimide foam, polypropylene paper (PPP), polystyrene (PS or expandedPS or extruded PS) foam, polyvinyl chloride (PVC or closed-cell PVC)foam, silicone foam, SBR, butadiene, ABS, etc. The barriers may also beharder materials, such as wood, aluminum, steel, titanium, or the like,but may preferably be softer than wood and/or structural metal.

Aspects of the invention provide methods of correcting a gait of aperson, and such methods may comprise: conducting a physical therapyregime on ambulatory motion of the person using any permutation of theinventive treadmill described herein. The physical therapy may be a partof regular sessions, wherein the method of correction is regularlychanged, e.g., increased in stress, and may occur daily or weekly (e.g.,1, 2, 3, 4, or 5 times) and may take place over, e.g., at least 15, 20,25, 30, 45, or 60 minutes and/or up to 3, 2.5, 2, 1.5, 1, 0.75, or 0.5hours per session. The therapies may last over 1, 2, 3, 4, 6, 8, 10, or12 weeks, or may be chronic over similar numbers of months or years.

Aspects of the invention provide methods of conducting physical therapyon the gait of a person, and such methods may comprise: aligning thebarriers of any permutation of the inventive treadmill described hereinon only one lengthwise half of the belt in the direction of movement ofthe belt; and allowing the person to walk and/or run on the treadmill.

Inventive arrangements may function fully without harnesses, cables,sensors, or the like contacting or attached to the patient. Inventivearrangements may function fully without force transducers, winches,and/or weighting in communication, particularly cable communication,with the treadmill, patient, and/or belt. Inventive arranges generallycreate disturbance events in greater than 500 ms, e.g., at least 0.5,0.6, 0.75, 1, 1.25, 1.5, 1.75, or 2 s and/or up to 10, 9, 8, 7, 6, 5, 4,3, 2, or 1 s.

Inventive arrangements may be configured to have no implements, braces,brackets, harnesses, belts, etc., above the leg(s) of the person on thetreadmill, i.e., a waist-upwards free mechanism (uncontacted by elementsof the treadmill system).

Aspects of the invention comprise minimizing the asymmetry of the steplength and/or time on the least affected limb without adding extraweight and/or accessories to the patients. Aspects of the inventioninclude a mechanical device and/or detachable barriers attached to atreadmill with a special belt, which may function as an obstacle toreduce the speed of the sound limb, thus minimizing the walkingasymmetry.

Aspects of the invention provide methods and/or devices configured toactivate gait symmetry, efficiency, and/or speed in patients (e.g.,humans, canines, equines, etc.) with asymmetrical gait disorders.Aspects of the invention include methods and/or devices configured toimprove the strength of affected lower limb(s). Aspects of the inventionprovide methods and/or devices configured to reduce the incidence oftripping and falling in users of such methods and/or devices. Aspects ofthe invention comprise methods and/or devices configured to minimizesecondary postural deviations in users of such methods and/or devices.Aspects of the invention provide methods and/or devices configured toimprove body image and body scheme in users of such methods and/ordevices. Aspects of the invention include methods and/or devicesconfigured to enhance dual task cognitive skills in users of suchmethods and/or devices.

Referring now to the drawings, wherein like reference numerals designateidentical or corresponding parts throughout the several views.

FIG. 1 shows an exemplary treadmill equipped with an exemplaryspecialized belt. The walking belt in FIG. 1 includes holders (1), e.g.,hooks, clamps, fixation elements, holes, or any similar fixation elementknown in the art, configured for the (preferably removable) attachmentof a barrier (2)/obstacle to the walking belt (3) that can be used,e.g., to slow down of the healthy leg or to urge forward, motivatemovement, etc. of the unhealthy or healthy leg. While the barrier (2) isillustrated as (isosceles) triangular prismatic elements, any morphologysuitable to achieve a desired therapeutic or motor-skill exercise may beused, including right triangular prismatic, square prismatic,rectangular prismatic, (hemi)spherical, cylindrical, half-pipe shaped,half hexagonal prismatic, half octagonal prismatic, saw-toothed (seenfrom above), sinusoidal (seen from above), squared stepped (seen fromabove), circular (seen from above), half-circular (seen from above),horse-shoed (seen from above), V-shaped (seen from above), L-shaped(seen from above), etc. The holder (1) may be any customary fixationelement(s) known in the art, including holes, Velcro, hooks, rivets,buttons, zippers, clasps, clamps, flanges, snap-ons, loops, etc., asfemale or male or mixed topography.

FIG. 2A to 2D show top (FIG. 2A), rear (FIG. 2B), side (FIG. 2C), andfront (FIG. 2C) views of an exemplary treadmill and an exemplaryspecialized belt (3). The belt (3) may have holders (1) that can be ofdifferent varieties, shapes, or implementations, as discussed above. Theholders (1) are generally configured to hold walking barriers (2). Thebarriers can be positioned either on the left or the right sidedepending on which leg is being targeted, and may be oriented to have anelongated side in the direction of rotation of the belt (3) and/orperpendicular to the direction of rotation of the belt (3).

A conventional treadmill, like inventive belts, may have a running belt(3) that rotates around one or more rollers having axes orientedperpendicularly to the direction of rotation. The speed of the rotation(or translation of the belt, 3) can be adjusted so that the user canexperience a full spectrum of speeds from walk to sprint. Unlikeconventional treadmills, inventive treadmills may be equipped with aspecialized belts (3) fitted with and/or configured for adjustableand/or removable obstacles or barriers (2). The net effect of suchinventive devices may be a negative influence on the speed of one leg(limb) over the other.

FIG. 3 shows a specialized treadmill belt (3) within the scope of theinvention, which does not show any attached barriers (2). Thespecialized belt is generally modified with holders (1), such as fittingholes or Velcro tape or any other type of fitting element which can holdor host barriers (2)/obstacles (21). Such modified belts (3) may then beadded to a treadmill on which a walking impaired person enters or isplaced. As the belt (3) moves the person may need to raise his/hernon-effected leg in order to slow down, which should ensure that theaffected leg and non-affected leg move at the same speed. The belt (3)may be designed to fit as many obstacles as needed, e.g., at least 1 per30, 35, 40, 45, 50, 55, 60, 65,70, 75, 80, 90, 100, 125, 133, 150, 167,175, 200, 250, 300 cm, or more and/or up to 1 per 10, 15, 20, 25, 30,33, 35, 40, 45, 50, 60, 75, or 100 cm. The belt (3) may contain 1, 2, 3,4, or 5 barriers, depending upon the shape, across its width, and/or maycontain staggered barriers (2)/obstacles (21) across its width andlength. The barriers (2)/obstacles (21) may be arranged on only one sideor both sides, vis-à-vis the legs of the subject.

FIG. 4 shows an exemplary purposively made barrier (2)/obstacle (21).Useful barriers (2)/obstacles (21) may be configured or manufacturedsuch that the barriers (2)/obstacles (21) can be fitted onto specializedbelt(s) (3). The barriers (2)/obstacles (21) may be added/arranged orremoved, e.g., attached or detached, as needed to achieve an overallgoal. The obstacles barriers (2)/obstacles (21) may have on a bottomside some affixation elements, such as pins, Velcro, carabiners,snap-ons, or the like, to attach the barriers (2)/obstacles (21) to thetreadmill belt (3). Useful barriers (2)/obstacles (21) may have variousheights and depths, e.g., at least 1, 1.5, 2, 2.5, 3, 3.5, 4, 5, 6, 7.5,or 10 cm and/or up to 30, 25, 20, 17.5, 15, 12.5, 10, 9, 8, 7, 6, or 5cm in height and/or width, and each barrier (2)/obstacle (21) may bedifferent from other barriers (2)/obstacles (21) on the same belt (3) orpatterns of barriers (2)/obstacles (21) may exist on a single belt (3).Thus, based on the needs and progression of the treatment of thepatients, the physician will have in his/her disposal different barriers(2)/obstacles (21) to advance the treatment or achieve a training goal.

FIG. 5 shows an exemplary specialized belt (3) equipped with exemplarybarriers (2)/obstacles (21). The specialized belt (3) and barriers(2)/obstacles (21) may together provide a device capable of adjustingthe walking speed of the non-affected leg to match the speed of theaffected leg, or vice-versa. FIG. 5 merely shows a simple arrangementwithin the scope of the invention, though the belt (3) may have offset(width-wise) barriers (2) and/or barriers (2) of different shape and/orbarriers (2) of varied, i.e., non-uniform, length-wise distributionalong the rotational direction of the belt (3).

FIG. 6 shows an exemplary treadmill with mechanical obstacle module (20)in a triggered arrangement, e.g., for training healthy leg motion,though the belt (3) does not specifically show any further barriers (2),which may be present. As desired for the particular therapy or trainingregiment, a box (20), or other housing or retractable arm from, e.g.,the base of the treadmill, may be included in the treadmill. Such a boxmay have one, two, three, or more mechanical rods that is extendable andretractable, either telescopically, rotationally, foldingly, orotherwise. While the depictions in the drawings show only a verticaltranslation, such obstacles (21) may be radially rotated, like abaseball bat, and/or translated back and forth in the direction of therotation of the belt (3), and/or may have a circular, sinusoidal, “FIG.8,” etc., motion pattern.

A conventional treadmill, like inventive treadmills, may have a runningbelt (3) that moves around the base with a top surface and a bottomsurface in an infinite loop. The speed of the movement of the belt (3)may be adjusted so that the user can experience any value within a fullspectrum continuum of speeds from walk to sprint, e.g., at least 0.1,0.25, 0.5, 0.75, 1, 1.5, 2, 2.5, 3, 3.5, 4, 4.5, or 5 km/h and/or up to30, 27.5, 25, 22.5, 20, 18, 16, 15, 14, 13, 12, 11, 10, 9, 8, 7, 6, or 5km/h. Unlike conventional treadmills, inventive arrangements may have 1,2, 3, 4, or more mechanical obstacle modules (20), e.g., with one ormore extendable and retractable rods as obstacles (21). The housing forsuch a mechanical obstacle module (20) may be placed on either side,both sides, or pluralities thereof, of the treadmill and the obstacles(3) may extend a quarter, one-third, halfway, or more, over the belt (3)or walking area. In such an operation, one leg may be unaffected by therod while the other leg may have an obstacle (21) to move over. Suchobstacles (21) may be, for example, at least 5, 10, 15, 20, 25, 30, 35,40, 45, or 50 cm and/or up to 100, 75, 65, 60, 55, 50, 45, 40, 35, 30,25, or 20 cm high. The mechanical obstacle modules (20) will generallywork together with the treadmill. As the user moves his foot (12, 13)forward, the rod/obstacle (21) may extend, causing the user to need tomove his foot (12, 13) over the rod/obstacle (21) thus adding time tothe stride and effectively slowing it down. Once the leg has landed onthe other side of the rod/obstacle (21), the rod/obstacle (21) mayretract so that the user can move his leg back in a normal way. If thespeed of the treadmill is adjusted, the frequency with which theobstacle (21) extends and retracts may also be adjusted.

One or more shapes or obstacles may be mounted on the distal end of theretractable rod (21) to act as an obstacle. The shape is preferablystructured to require a patient to lift a leg over an obstacle in thedirection of travel of the belt (3). The shaped obstacle they havedifferent or varying dimensions with respect to its vertical placementfrom the plane of the moving belt (3). For example, an obstacle such asa long rectangle having a plane that is substantially parallel to theplane of the moving belt (3) can be mounted on the rod (21). An obstaclein this form is intended to mimic or represent a longer obstacle thatmight normally be encountered while walking such as a larger crevice,curb, or step.

FIG. 7 shows an isolated view of an exemplary mechanical obstacle system(20) of the sort shown in FIG. 6. In FIG. 7, the mechanical rod obstacle(21) may extend in front of the healthy leg to slow down the gait. Suchobstacles (21) can be adjusted upwards and downwards and/or otherwise asdescribed above. Typically, the higher the rod goes, the slower the gaitwill be. One or more sensors to detect the starting of motion for a legcan be added to trigger the release of the rod/obstacle (21) with thestarting of motion.

FIG. 8A to 8D shows components of an exemplary mechanical obstaclesystem (21) that may be included in a device as desired. Of course, theelectrical controller (25) may include a receiver for electronic signalsfrom a handheld device, remote control, computer, or the like, forcontrolling and/or influencing the motion of the treadmill, belt (3),and/or the mechanical obstacle system (21). Any mechanical obstaclesystem (21) and/or barriers (2) on the belt (3) may have programmablepatterns of motion. Although the location of the buttons may be anydesired (or none, or a touch-screen), FIG. 8A shows an on/off button(22), a button (23) to move an obstacle (21) vertically upwards, abutton (24) to move an obstacle (21) vertically downwards, and at leastone electric controller (25) which may be within a housing (21) asshown, or within the obstacle (21) itself or within the standard frontdisplay of the treadmill.

FIG. 9 shows an exemplary electromagnetic shoe including an intendedfoot indicator (6) and an exemplary treadmill track including a belt(3), one or more sensors (4, 5), and/or one or more coils (7, 8, 9, 10,11) optionally suitable for detecting movements of any electronicdevice, e.g., attached to the shoe, foot, ankle, calf, knee, and/orthigh of a patient.

FIG. 10 shows a layout of an exemplary walking system, showing an imageof a right shoe/foot (12), a left shoe/foot (13), a front spacer (14)and a rear spacer (15), one or more rotating balls/spheres (16),cylinders, or the like, e.g., having 360° in one, two, or three axes.Also shown on the exemplary layout in FIG. 10 are a right treadmill wall(17), a center treadmill wall (18), and a left treadmill wall (19), anyof which may be present or absent.

In the depiction in FIGS. 9 and 10, the right leg has the unhealthy foot(12) and the left foot (13) is healthy. The situation of the feet shownin FIGS. 9 or 10 can be reversed and/or both feet (12, 13) may includeattachments (6). The shoe sides and the sole can be made from or lacedwith small magnets, piezoelectrics, and/or signal elements. The sides,front, back, and/or bottom of the treadmill may include one or moremagnetic coils (7, 8, 9, 10, 11) which may generate an electromagneticsignal, or in which an electromagnetic signal may be developed, as shownin FIG. 9. The strength and/or direction of the fields may be adjustedphysically and/or electronically: physically e.g., by configuring theorientation, the winding geometry, the coil material/alloy, and/or thenumber of turns of the coil; and electronically, through amicroprocessor (unnumbered) which may control the energizing timing ofthe coil (7, 8, 9, 10, 11) shown in FIG. 9 and/or the strength anddirection of the current and voltage energizing the coils.

The shoe and/or the foot (12, 13) may have an indicator (6) on the footof one or both legs. The indicator (6) may be infrared, light reflector,or any other suitable indicator. The magnets in the shoe (12, 13) orotherwise arranged on the foot (12, 13) can also act as the indicator(1). The treadmill may have 1, 2, 3, 4, 5, 6, or more sensors (7, 8, 9,10, 11), such as one or more in the front, rear, right side, left side,and/or bottom, as seen in FIG. 10. In this way, one or more sensors (7,8, 9, 10, 11) may determine the beginning and end of each stride on thedesired foot (12, 13) and relay this information to a microprocessorsuitable to adjust the electromagnetic field accordingly to eitheroppose or assist the shoe movement. The adjustment may thus achieve adesired modification of the gait behavior of the healthy and/or impairedlegs.

The magnetic field shape may additionally or alternatively be adjusteddynamically during the gait to force and adjust the orientation andposture of the foot (12, 13), thus training the user to move the foot(12, 13) in the correct direction and/or at the correct pace. Forexample, the user may have the front of his right foot (12) rotatedcounterclockwise, i.e., having toes of the right feet point inwardstowards the left foot, while the heel of the right foot (12) is pointedoutwards (or the reverse of this, i.e., clockwise rotated). In thecounter-clockwise case, a magnetic field may be used to force the rightfoot (12) to rotate clockwise during the gait.

FIG. 10 shows exemplary sides (17, 18, 19) of an exemplary treadmill,wherein the center (18) may have a wall of any desired height, e.g., atleast 1, 2.5, 5, 7.5, 10, 12, 15, 20, 25, or 30 cm and/or up to 75, 70,65, 60, 55, 50, 45, 40, 35, 30, or 25 cm. The shoe (12, 13) may include1, 2, 3, 4, 5, or more attachments (6, 16) having shapes customized foreach patient to achieve the desired foot orientation and can be fittedto any side of the foot (12, 13) in the front, right side, left side,top, sole, and/or back, and/or standardized to typical impairmentscenarios encountered across particular patient groups. The outer edgeof such attachments (6, 16) may include a ball (16) that can rotatefreely in 360 degrees to thereby allow a customization of the shape,length, and/or width of these attachments to orient the foot (12, 13) ina desired direction. Such balls (16) may be in contact with thetreadmill walls (17, 18, 19) so the foot (12, 13) can be oriented in thedesired health direction. The attachments (6, 16) may be adjustedgradually so as to train a user over time, making bigger and biggerchanges until the final desired outcome is achieved. In FIG. 10, it isassumed that the right leg has the impaired/unhealthy foot (12), and theleft foot (13) is healthy/normal. However, this can be switched or evenattachments (6, 16) can be attached to both feet (12, 13).

Numerous modifications and variations of the present invention arepossible in light of the above teachings. It is therefore to beunderstood that within the scope of the appended claims, the inventionmay be practiced otherwise than as specifically described herein.

REFERENCE SIGNS

1 holder/mount

2 barrier

3 treadmill surface

4 rear (stride) sensor

5 front (stride) sensor

6 intended foot indicator

7 rear coil

8 right side coil

9 left side coil

10 bottom coil

11 front coil

12 right shoe/foot

13 left shoe/foot

14 front spacer

15 rear spacer

16 (360° rotating ball

17 right treadmill wall

18 center treadmill wall

19 left treadmill wall

20 mechanical obstacle system

21 obstacle

22 on/off button

23 move obstacle vertically up

24 move obstacle vertically down

25 electric controller

The invention claimed is:
 1. An apparatus for human gait manipulation,comprising: a treadmill belt configured to travel within a hollowtreadmill frame upon rotating elements having axes perpendicular to adirection of the travel; a first barrier; and a second barrier, a thirdbarrier, and an external mechanical obstacle module comprising anextendable/retractable rod-shaped obstacle, wherein the first, secondand third barriers are equidistantly positioned along a length of thetreadmill belt wherein the extendable/retractable rod-shaped obstacle isconfigured to extend lengthwise perpendicular to a first and secondlengthwise edge of the treadmill belt across no more than 60% of thewidth of the treadmill belt of the apparatus from the externalmechanical obstacle module, wherein the first, second and third barriersare arranged on the top surface of the treadmill belt between the firstlengthwise edge and the second lengthwise edge of the treadmill belt,wherein the first, second and third barriers are reversibly fastened tothe treadmill belt and are interchangeably positionable along the firstlengthwise edge and the second lengthwise edge of the treadmill belt,wherein the first, second and third barriers extend no more than 75% ofa width between the first and second lengthwise edge, wherein the first,second and third barriers on the treadmill belt are configured to modifymovement of only one foot of a person on the apparatus, and wherein adistance between the first lengthwise edge and the second lengthwiseedge of the treadmill belt defines the width of the treadmill belt. 2.The apparatus of claim 1, configured to have no physical connectionbetween the person on the apparatus and the hollow treadmill frame. 3.The apparatus of claim 1, wherein the external mechanical obstaclemodule is positioned adjacent the treadmill belt such that theextendable/retractable rod-shaped obstacle is extendable verticallyabove the treadmill belt.
 4. The apparatus of claim 1, wherein thefirst, second and third barrier are in the form of triangular and/orrectangular prisms.
 5. The apparatus of claim 1, wherein the treadmillbelt comprises the first, second and third barriers on only one half ofthe width of the treadmill belt from a center of the treadmill belt. 6.The apparatus of claim 1, wherein the first, second and third barriersare driven only by the treadmill belt in operation.
 7. The apparatus ofclaim 1, wherein each of the first, second and third barriers ismirror-symmetric in at least two planes bisecting the respectivebarrier.
 8. The apparatus of claim 1, wherein the first, second andthird barriers are made of a material comprising a polyurethane foam.